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16 条记录 (耗时 0.009 秒)

    ROBOT TRAJECTORY LEARNING BY DEMONSTRATION WITH PROBE SENSOR
    2.
    发明公开
    ROBOT TRAJECTORY LEARNING BY DEMONSTRATION WITH PROBE SENSOR 审中-公开

    公开(公告)号：EP3380902A1

    公开(公告)日：2018-10-03

    申请号：EP16805966.5

    申请日：2016-11-23

    申请人： Science Ventures Denmark A/S

    发明人： CORTSEN, Jens

    IPC分类号： G05B19/423 ,  G05B19/427 ,  G05B19/421

    摘要： A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.

    Remote control system for a numerical control machine
    3.
    发明公开
    Remote control system for a numerical control machine 失效
    用于数控机床的远程控制系统

    公开(公告)号：EP0808692A3

    公开(公告)日：1998-11-18

    申请号：EP97830227

    申请日：1997-05-16

    申请人： C M S COSTRUZIONI MACCHINE SPE

    发明人： ACETI PIETRO

    IPC分类号： B25J13/02 ,  G05B19/421 ,  G05B19/423 ,  B23Q15/22 ,  B25J3/00

    CPC分类号： G05B19/421 ,  B25J13/02 ,  G05B19/423 ,  G05B2219/35416 ,  G05B2219/35419 ,  G05B2219/35459

    摘要： The invention regards a remote control system for a numerical control operating machine that will move the head and/or machine spindle according to four or more axes in such a way as to use a sample to define the most important points of work runs to be used later on a given piece. It consists of a lever control device (joy-stick) capable of controlling the linear movements of the machine according to three orthogonal axes (X-Y-Z), and swivel-mounted around a horizontal axis B on a first support 13, to control the movement of the operating machine according to a fourth axis. The first support with said device is swivel-mounted around a vertical axis C on a second support 14, to control the movement of the operating machine according to a fifth axis.

    Method for calibrating parallel kinematic mechanism, method for verifying calibration, program product for verifying calibration, method for taking data, and method for taking correction data for spatial posturing correction
    6.
    发明公开
    Method for calibrating parallel kinematic mechanism, method for verifying calibration, program product for verifying calibration, method for taking data, and method for taking correction data for spatial posturing correction 有权
    Verfahren zum Kalibrieren eines parallel kinematischen Mechanismus

    公开(公告)号：EP1698954A1

    公开(公告)日：2006-09-06

    申请号：EP06002206.8

    申请日：2006-02-02

    申请人： Shin Nippon Koki Co., Ltd.

    发明人： Nishibashi, Nobutaka ,  Yagi, Kazuaki

    IPC分类号： G05B19/402 ,  G05B19/421 ,  B25J9/16 ,  B23Q1/54

    CPC分类号： B23Q17/22 ,  B23Q1/5462 ,  Y10T409/307672 ,  Y10T409/309576

    摘要： A calibration method for calibrating a parallel kinematic mechanism which is provided with an end effecter, a plurality of driver shafts connecting the base and the end effecter via a plurality of joints provided in the base and the end effecter, respectively, and a numerical control device for controlling the posture of the end effecter by manipulating coordinates of each driver shaft using the kinematics or the inverse kinematics, the calibration method comprising: setting an adjustment tool attached to the end effecter in a specified number of different predetermined postures in a reference coordinate system provided outside the parallel kinematic mechanism to define a reference coordinate system of the parallel kinematic mechanism, an axis of the adjustment tool being in agreement with an axis of the end effecter; a taking step of taking coordinates of the posture of the adjustment tool each time the adjustment tool is placed in the posture; recording coordinates of each driver shaft manipulated by the numerical control device in accordance with the inverse kinematics each time the adjustment tool is placed in the posture; and calculating kinematic parameters necessary for the kinematics of the parallel kinematic mechanism based on the taken coordinates of the postures of the driver shafts and the recorded coordinates of the driver shafts. Accordingly, it is possible to obtain accurate posture information of the end effecter and relative coordinates of the driver shafts.

    摘要翻译： 一种用于校准具有端部执行器的并联运动机构的校准方法，分别经由设置在基座和端部执行器中的多个接头连接基座和端部执行器的多个驱动轴以及数字控制装置 用于通过使用运动学或逆运动学来操纵每个驱动轴的坐标来控制末端执行器的姿势，所述校准方法包括：在参考坐标系中以指定数量的不同的预定姿势来设置附接到末端执行器的调节工具 设置在所述平行运动机构外部，以限定所述平行运动机构的参考坐标系，所述调节工具的轴线与所述端部执行器的轴线一致; 每当调节工具处于姿势时进行调节工具的姿势坐标的取走步骤; 每当调节工具处于姿势时，由数控装置根据逆运动学记录的每个驾驶员轴的记录坐标; 并且基于驾驶员轴的姿势的坐标和驾驶员轴的记录坐标来计算并联运动机构的运动学所需的运动学参数。 因此，可以获得末端执行器的准确姿势信息和驾驶员轴的相对坐标。

    DEVICE CONTROL SYSTEM
    8.
    发明公开
    DEVICE CONTROL SYSTEM 审中-公开
    设备控制系统

    公开(公告)号：EP2831684A1

    公开(公告)日：2015-02-04

    申请号：EP13725732.5

    申请日：2013-03-22

    申请人： Torquing Technology Limited

    发明人： REEDMAN, Ivan

    IPC分类号： G05B19/421 ,  G05B19/042

    CPC分类号： G05B15/02 ,  G05B19/0421 ,  G05B2219/25086

    摘要： A heterarchical device control system is provided, comprising a plurality of computer-implemented cells. At least one cell is a control cell having software arranged to communicate instructions to the device being controlled in a language native to the device so as to perform a predetermined task. Also, at least one cell is a sensor cell configured to generate sensor data for input to the control cell to facilitate performance of the predetermined task. The sensor data might be environmentally-related data e.g. position of the device, speed of travel, angle of elevation etc. Messages sent between the cells are formed in accordance with a common format, which might be a high-level programming language, a low level programming language or a protocol. This arrangement provides a fault-tolerant, scalable and autonomous control system.

    Method and apparatus for controlling coordinate displacements of a platform
    10.
    发明公开
    Method and apparatus for controlling coordinate displacements of a platform 失效
    用于控制平台的坐标位移的方法和设备

    公开(公告)号：EP0732637A3

    公开(公告)日：1996-12-04

    申请号：EP96107698.1

    申请日：1992-04-30

    申请人： Becton Dickinson and Company

    发明人： Den Engelse, Peter ,  Flipse, Alexander

    IPC分类号： G05B19/23 ,  G05B19/421

    CPC分类号： G02B21/26 ,  G05B19/106 ,  G05B19/231 ,  G05B19/421 ,  G05B2219/35459 ,  G05B2219/35477 ,  G05B2219/36465 ,  G05B2219/37396 ,  G05B2219/43186 ,  G05B2219/45182 ,  G05B2219/45238

    摘要： The field of the invention is a combination of a microscope and an interactive image analysis system comprising a camera and a computer work station. The purpose of the invention is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.

    摘要翻译： 本发明的领域是显微镜和包括相机和计算机工作站的交互式图像分析系统的组合。 本发明的目的是促进显微镜台的坐标位移的交互控制。 对于每个坐标x和y，建立机电控制通道。 在控制通道的输入处，两个同轴布置的级联车轮和两个角度编码器被用作分离的独立工具，其不与运动学链接到舞台。 在控制通道的中间，角度编码器的脉冲经历非线性变换。 处理器执行区分慢位移和快位移的计算。 在控制通道的末端，显微镜载物台平坦易于操作的平台有两个工作区域，一个用于手动预览，另一个用于交互式扫描样品。